Yaskawa MP900 Series Motion Programming Manual - Manual (Page 59)

Motion Commands
2.1.2 LINEAR INTERPOLATION (MVS)
2 -6
The following illustration shows the path of movement.
[axis 2]
[axis 1]
[axis 3]
axis 3
axis 2
axis 1
Interpolation
feed speed
(Composite
speed)
End position
Current position
Figure 2.4 Path of Movement with MVS
D The reference position depends on the ABS or INC mode designated in advance.
D The interpolation feed speed is also referred to as the F designation. It is specified in the speed
designation (F) or in the INTERPOLATION FEED SPEED RATIO SETTING command
(IFP). The last F designation or IFP command specified in the previous block remains in ef-
fect. A LINEAR INTERPOLATION command for which no F designation or IFP command
has been executed since the power was turned ON will generate an alarm.
D The composite speed of all the designated axes will be equivalent to the F designation. If an
F designation exceeds the limit set in MAXIMUM INTERPOLATION FEED SPEED
(FMX), an alarm will be generated.
• Two Axes (axis 1 and axis 2)
F = V
axis1
2 + V
axis2
2

• Three Axes (axis 1, axis 2, and axis 3)
F = V
axis1
2 + V
axis2
2 + V
axis3
2

• Four Axes (axis 1, axis 2, axis 3, and axis 4)
F = V
axis1
2 + V
axis2
2 + V
axis3
2 + V
axis4
2

When creating a motion program that uses interpolation commands, designate MAXIMUM INTERPOLA-
TION FEED SPEED (FMX) at the beginning of the program. If this is not designated, an alarm will be gener-
ated.
D In actual programming operations, an override of 0% to 327.67% can be applied to the F des-
ignation. The override will take effect immediately. Refer to 1.2.3 Feed Speeds for the over-
ride setting methods.
F designation
FMX × IFP command
Interpolation speed override
Output speed
Interpolation speed override Output speed
=
F designation
FMX × IFP command
×
(100 % = 10000)
2
IMPORTANT